PX4 Community Q&A: May 24, 2023

princealy · May 23, 2023, 2:44pm

Hey everyone!

I am trying to create a launch file that will start PX4, so we can send commands from ROS2 to PX4 using the microDDs bridge.
I have read the following examples:

github.com

Jaeyoung-Lim/px4-offboard/blob/1db3441cfd138039225f361680d421f817b9f543/doc/ROS2_PX4_Offboard_Tutorial.md


## Overview

This tutorial explains how to interface ROS2 with PX4 (SITL) using DDS.

### Prerequisites

   * [ROS2 Installed](https://docs.px4.io/main/en/ros/ros2_comm.html#install-ros-2), and setup for your operating system (e.g. [Linux Ubuntu](https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html)) with Gazebo
   * [FastDDS Installed](https://docs.px4.io/v1.13/en/dev_setup/fast-dds-installation.html#fast-dds-installation)
   * [PX4-Autopilot downloaded](https://docs.px4.io/main/en/dev_setup/building_px4.html)
   * [QGroundControl installed](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html)
   * Ubuntu 22.04
   * ROS2 Humble
   * Python 3.10

## Install PX4 Offboard and dependencies (one time setup)

### Install the px4-offboard example from Jaeyoung-Lim

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While these launch ROS2 and connect to PX4 using the bridge, we need a way to first connect the drones to PX4.
The use case is to implement the following using a launch file:

As the multi-vehicle simulation requires gazebo garden, which is not compatible with our environment. How can we get this to work? Are there any examples?

Here are some related threads:
Launch PX4 via ROS2 python launch file - #13 by befaro - uses RTPS not microDDS
ROS2 lidar integration - via python launch file? - unasnwered

Here is my discord question: Discord

Thank you so much!!!